EP2530046B1

EP2530046B1 - Stepless luffing mechanism for super-lifting counterweight of crawler crane and operating method thereof

Info

Publication number: EP2530046B1
Application number: EP10844337.5A
Authority: EP
Inventors: Zhigang Chen; Baojun Liu; Zhenzhu Li; Linghua Su
Original assignee: Shanghai Sany Technology Co Ltd
Current assignee: Shanghai Sany Technology Co Ltd
Priority date: 2010-01-26
Filing date: 2010-06-12
Publication date: 2015-01-07
Anticipated expiration: 2030-06-12
Also published as: WO2011091559A1; SG182411A1; EP2530046A4; CN101774514A; EP2530046A1; CN101774514B; BR112012018615A2; US20130020273A1

Description

Technical Field

The present invention relates to a mechanism and an operation method thereof to change the position of a superlift counterweight of a crawler crane, specifically it relates to a stepless luffing mechanism for the superlift counterweight of crawler crane and an operation method thereof.

Background

Presently, most crawler cranes usually change the superlift radius by changing the angle of the superlift mast, thus to change the position of the superlift counterweight and to adjust the barycenter of the superlift counterweight in order to ensure the stability of the whole machine when hoisting. By only changing the angle of the superlift mast to achieve changing of the position of the superlift counterweight, it is needed to place the superlift counterweight on the ground every time, and to change the angle of the superlift mast thereafter, then the superlift counterweight will be lifted after the superlift radius is adjusted. Such a method can not be applied during operation. Accordingly, it is not only complicated but also time-consuming, strenuous and poor performing, and it requires a large working space.
US 6283315B1 has disclosed a crane, preferably a derrick crane. Fig. 7 shows a derrick crane without boom, on the derrick 30 of which, the suspended ballast 31 is hung by means of a cable 32. The traveling chassis and revolving structure are, in principle, designed in the same manner as described in relation to Fig. 1. The suspended ballast 31 is connected with the revolving structure 33 of the derrick crane by means of a telescoping beam 34. The telescoping beam 34 is connected, in the manner shown in Fig. 8, to the revolving structure 33 by means of a pin joint 35 and to the suspension of the suspended ballast 31, in an articulated manner, by means of the pin joint 36. The telescoping beam 34, as can be seen in Fig. 7, can be telescoped or extended outward in accordance with the current load or in accordance with the current luff angle of the boom (not shown), so that the load moment corresponding to the pivoting angle of the boom can be produced simply by a corresponding telescoping outward of the suspended ballast.
CN 201292224Y has disclosed a movable counterweight device for a crawler crane. The device comprises a counterweight connected with the A-shaped frame of the crawler crane, a counterweight pulling rope with one end connected with the counterweight and the other end fixed on a platform of the crawler crane, and a hydraulic oil cylinder, wherein, the hydraulic oil cylinder is arranged on the platform of the crane, and a pulley which is supported against the counterweight pulling rope is connected at the top end of the piston rod of the hydraulic oil cylinder. The utility model enables the counterweight pulling rope to drive the counterweight to swing clockwise or anticlockwise through the stretching of the piston rod so as to change the operating torque of the counterweight to the hoisted object, and the crawler crane further has different lifting capacities.
CN 101021731A has disclosed a torque control method and device on the condition of superlift of a crawler crane takes the ratio of actual loading pressure and maximum permissible value of the crane main luffing rod as the main luffing percentage A, and the ratio of pull sum for crane superlift counterweight upgrading fuel tank and counterweight as the using percentage B to realize the torque control according to the relation of A and B. It also provides a method of achieving the above device, which includes: buzzers, lights, pull sensors set on the main luffing rod, pressure sensors on the superlift counterweight fuel tank, the controller coupled with the above components and the interface coupled with controller.
CN 1697778A has disclosed a mobile crane with a carrier and a superstructure which is slewably arranged thereon has a superlift device with an SL counterweight for increasing lifting capacity. The SL counterweight can be lifted from the ground in order to execute slewing movements of the superstructure and its slewing radius is changeable. The crane has an electronic control device with a computing device and with a display. In order to avoid costly conversion work on the SL counterweight and to increase operating safety, a program is stored in the electronic control device, which program determines a permissible operating field for crane parameters from the parameters comprising load size and load radius, size of SL counterweight and SL counterweight radius while taking into account the stability criteria and capacity criteria of the mobile crane and displays this operating field graphically on the display. Within this operating field, these parameters may be safely changed, the rest of the parameters remaining constant, and the lifting of the SL counterweight from the ground can be ensured.

Summary of the Invention

The object of the invention is to provide a stepless luffing mechanism for a superlift counterweight of a crawler crane to conveniently and easily achieve a stepless luffing of the superlift counterweight during operation without changing the angle of a superlift mast thereof or dismantling or assembling the superlift counterweight. It is easy to operate so that the working efficiency is increased greatly and the requirement for the working space for the superlift mast is reduced. Meanwhile the working range of the hoisting operation is increased and the wobble of the superlift counterweight is reduced.
Provided is a stepless luffing mechanism for a superlift counterweight of a crawler crane, including a main luffing mast, a lift cylinder, a variable amplitude construction for the superlift counterweight, a pulling plate for the superlift counterweight, a superlift mast and a measuring transducer, which is mounted under the variable amplitude construction for the superlift counterweight; the lower end of the lift cylinder connects to the superlift counterweight, and the upper end of the lift cylinder connects to the lower end of the front part of the variable amplitude construction for the superlift counterweight; the upper end of the front part of the variable amplitude construction for the superlift counterweight connects to the lower end of the superlift counterweight pulling plate; wherein:

the variable amplitude construction for the superlift counterweight including a hydro-cylinder support; translating hydro-cylinder(s) which is/are set in the front end of the hydro-cylinder support, hydro-cylinder piston rod support(s), which is/are set in the front end of the translating hydro-cylinder(s), and connecting support(s), which is/are set in the front end of the hydro-cylinder piston rod support(s), pulling plate(s), which is/are set in the front end of connecting support(s), and there is a pressure sensor and a proportional electromagnetic valve, which are set in the translating hydro-cylinder.

In some embodiments the lower end of the superlift mast connects to the back-end of the platform, while the upper end of the superlift mast connects to the upper end of the superlift counterweight pulling plate through a lifting rope; the lower end of the main luffing mast connects to the back-end of the platform, while the upper end of the main luffing mast connects separately to the upper end of the superlift mast as well as to the lower end in the rear side of the variable amplitude construction for the superlift counterweight by the lifting rope.
Provided in some embodiments is a stepless luffing mechanism for the superlift counterweight of the crawler crane based upon the aforementioned stepless luffing mechanism, wherein:

the measuring transducer includes a length sensor and an angle sensor; the length sensor is installed at the lower part of the hydro-cylinder support to measure the projecting length of the translating hydro-cylinder; the angle sensor is installed at the lower part of the hydro-cylinder piston rod support(s) to measure the angle between the variable amplitude construction for superlift counterweight and the platform.

Provided in some embodiments is a stepless luffing mechanism for the superlift counterweight of the crawler crane based upon the aforementioned stepless luffing mechanism, wherein:

the variable amplitude construction for the superlift counterweight connects to a pin of the platform through the hydro-cylinder support; the pulling plates include a first pulling plate and a second pulling plate, the upper ends of the first and second pulling plates connect to the upper end of the lift cylinder, and the lower ends of the first and second pulling plates connect to the lower end of the superlift counterweight pulling plate.

there is a mast angle sensor which is set on the superlift mast.

Provided in some embodiments is a stepless luffing mechanism for the superlift counterweight of the crawler crane based upon the aforementioned stepless luffing mechanism, wherein: the translating hydro-cylinder drives the piston rod of the hydro-cylinder to move in the horizontal direction.
Provided in some embodiments is a stepless luffing mechanism for the superlift counterweight of the crawler crane based upon the aforementioned stepless luffing mechanism, wherein:

the lift cylinder drives the superlift counterweight to move in the vertical direction.

An operation method for the stepless luffing mechanism of the superlift counterweight of the crawler crane includes the following steps:

Step 1: calculating the distance along the straight line L1 between the top of the superlift mast and the hinge point, which connects the superlift counterweight translating mechanism to the platform, according to the angle α between the superlift mast and the platform measured by the mast angle sensor.
Step 2: measuring the included angle Φ between the variable amplitude construction for the superlift counterweight and the platform by means of the angle sensor; and calculating the included angle β between the variable amplitude construction for the superlift counterweight and the straight line L1 according to the measured angles α and Φ.
Step 3: calculating the distance L7 between the hinge point, where the variable amplitude construction for the superlift counterweight connects to the platform, and the hinge point, where the end of the variable amplitude construction for the superlift counterweight is connected to the superlift counterweight pulling plate, according to the value of β.
Step 4: calculating the value of the superlift radius R according to the value of L7 and Φ.

Compared with the prior art the present invention realizes stepless variable amplitude of the superlift counterweight radius, and the range of the variable amplitude is larger, and it is more convenient, thus it could achieve the object that the hoisting operation range of the machine is larger and the machine during the craning process is more stable, safer and more reliable. It further makes better use of the working space of the superlift mast, especially in the condition that the working space is limited. It can change the center of gravity of the superlift counterweight by changing the stroke of the piston of the translating hydro-cylinder without changing the angle position of the superlift mast, thereby the space for luffing and variable amplitude of the superlift mast is saved. And it is easy to operate and convenient to use.
The present invention could change the stress state of the superlift counterweight efficiently and reduce the wobble and the shock while the crawler crane is rotating and moving to make its movement more stable. Thereby the operating condition of the vehicle is improved and the working life of the vehicle is prolonged. By the real-time monitoring by sensors, electrical program control and the use of hydraulic pressure hydro-cylinder, the moving of the superlift counterweight will be safer and smoother, and the position during movement will be more accurate to further ensure the safety of the crane. Combining an electronic load meter and program control, it is possible to display the radius value of the superlift (i.e. the superlift counterweight position), the tension schedule of the main variable amplitude, the pressure schedule of the superlift counterweight lifting hydro-cylinder, the pressure schedule of the superlift counterweight translating hydro-cylinder and the translating stroke of the superlift counterweight on the comprehensive instrument displays in the driving room, so that accurate data can be provided for operation personnel to refer to when operating the machine. Application of the mechanism will observably simplify the process to change the position of the superlift counterweight, and the construction of the mechanism is simple and easy to assemble, dismount and transport.

Brief Description of the Drawings

Further advantages and details of the present invention are illustrated by the following description of the figures, in which:

Fig. 1 is a perspective view of the stepless luffing mechanism for the superlift counterweight of crawler crane according to the present invention;
Fig. 2 is a front view of the superlift counterweight of the stepless luffing mechanism for superlift counterweight of crawler crane according to the present invention;
Fig. 3 is a top view of the variable amplitude construction for superlift counterweight of the stepless luffing mechanism for superlift counterweight of crawler crane according to the present invention; and
Fig. 4 is a schematic diagram concerning calculation of the superlift radius of the stepless luffing mechanism for superlift counterweight of crawler crane according to the present invention.

Detailed Description of the Preferred Embodiment

Embodiments of the present invention will be further illustrated with the drawings.
As shown in Fig. 1, a stepless luffing mechanism for a superlift counterweight of a crawler crane, including a main luffing mast 0, a lift cylinder 2, a variable amplitude construction 3 for the superlift counterweight, a pulling plate 4 for the superlift counterweight, a superlift mast 5 and a measuring transducer installed under the variable amplitude construction 3 for the superlift counterweight. The lower end of the lift cylinder 2 connects to a superlift counterweight 1, the upper end of the lift cylinder 2 connects to the lower end of the front part of the variable amplitude construction 3 for the superlift counterweight; the upper end of the front part of the variable amplitude construction 3 for superlift counterweight connects to the lower end of the superlift counterweight pulling plate 4; the upper end of the superlift counterweight pulling plate 4 connects to the superlift mast 5 by a lifting rope, and the other end of the superlift mast 5 connects to one end of the platform 7. There is a mast angle sensor set on the superlift mast 5. The lower end of the variable amplitude construction 3 for the superlift counterweight connects to a pin of the platform 7; the lift cylinder 2 drives the superlift counterweight 1 to move in a vertical direction to adjust its position along the vertical direction to ensure the superlift counterweight 1 is at an appropriate height.
Please refer to Fig. 2 and Fig. 3, which show a hydro-cylinder support 31, a translating hydro-cylinder 32 that is set in the front end of the hydro-cylinder support 31, hydro-cylinder piston rod support(s) 33 that is/are set in the front end of the translating hydro-cylinder 32, a connecting support 34 that is set in the front end of the hydro-cylinder piston rod support(s) 33 and pulling plates 35 that are set in the front end of the connecting support 34. The pulling plates 35 includes a first pulling plate 351 and a second pulling plate 352, the upper ends of the first pulling plate 351 and the second pulling plate 352 connect to the upper end of the lift cylinder 2, the lower ends of the first pulling plate 351 and the second pulling plate 352 connect to the lower end of the superlift counterweight pulling plate 4. The translating hydro-cylinder 32 drives a hydro-cylinder piston rod to move in a horizontal direction. The measuring transducer includes a length sensor 61 and an angle sensor 62; the length sensor 61 is installed at the lower part of the hydro-cylinder support 31 to measure the projecting length of the translating hydro-cylinder 32; the angle sensor 62 is installed at the lower part of the hydro-cylinder piston rod support(s) to measure the included angle between the variable amplitude construction 3 for superlift counterweight and the platform 7.
Please refer to Fig. 1, Fig. 2 and Fig. 3, the level position of the superlift counterweight is adjusted through controlling the telescopic movement of two superlift counterweight translating hydro-cylinders 32 of the variable amplitude construction 3 for the superlift counterweight to make it move away from the center of gravity of the vehicle or approach the center in a horizontal direction. It is pushed from point A to point B, or retracted from point B to point A.
When the pressure on the pulling plates of the main luffing mast 0 is reduced; the superlift counterweight translating hydro-cylinder 32 may retract stroke. When the pressure on the pulling plates of the main luffing mast 0 is suitable, the superlift counterweight translating hydro-cylinder 32 is at a lock position with no movement. When the pressure on the main variable amplitude pulling plate is increased, the superlift counterweight translating hydro-cylinder 32 may be pushed forward and the stroke is increased.
Please refer to Fig. 3, there is a pressure sensor 8 and a proportional electromagnetic valve set in the translating hydro-cylinder 32. In order to ensure the synchronization of the movement of the two translating hydro-cylinder 32 there is a set of pressure sensors 8 in the translating hydro-cylinders 32 which adopts synchronization control logic. When the translating hydro-cylinders 32 are moving, the pressure of the two hydro-cylinders 32 monitored by the pressure sensors 8 will be equal. Otherwise, they will be unequal. If the pressure of the first translating hydro-cylinder 321 is not equal to the pressure of the second translating hydro-cylinder 322, the pressure value difference between the two translating hydro-cylinders has to be dealt with. Dealing with the value difference is mainly achieved by an electromagnetic valve. A first proportional electromagnetic valve 91 and second proportional electromagnetic valve 92 are separately configured in the first translating hydro-cylinder 321 and second translating hydro-cylinder 322. The speed of the hydro-cylinder action is determined by a given electric current. The opening of the electromagnetic valve will be bigger when the electric current is higher, thus the speed of the hydro-cylinder action will also be higher; the opening of the electromagnetic valve will be smaller when the electric current is lower, thus the speed of the hydro-cylinder action will also be lower. Therefore, the speed of the hydro-cylinder action is changed by adjusting and controlling the electric current of the first proportional electromagnetic valve 91 and the second proportional electromagnetic valve 92 set in the first translation hydro-cylinder 321 and second translation hydro-cylinder 322 in order to achieve the synchronization.
The length sensor 61 and the angle sensor 62 separately monitor the length value of the variable amplitude construction 3 for the superlift counterweight and the value of the included angle Φ between the variable amplitude construction 3 for superlift counterweight and the platform 7 in real time. And the value of superlift radius, i.e. the position value of the superlift counterweight, can be calculated.
Please refer to Fig. 4, the calculating method for the superlift counterweight working radius is as follows:
The radius of superlift: R= L7 × cosφ + L4 - L6 wherein:

L2---the length of the superlift mast;
α---the angle of the superlift mast (measured by the sensor for the angle of the superlift mast);
Φ---the angle of the variable amplitude construction for the superlift counterweight (measured by the angle sensor);
L4---the distance between the hinge point of the superlift mast and the hinge point of the variable amplitude construction for the superlift counterweight;
L3---the distance between the top of the superlift mast and the hinge point where the end of the variable amplitude construction for the superlift counterweight connects to the pulling plate;
L6---the distance between the hinge point of the superlift mast and the centre line for rotating;
L1---the distance between the top of the superlift mast and the hinge point of the superlift counterweight translating mechanism; $L 1 = \sqrt{L 2^{2} + L 4^{2} - 2 \times L 2 \times L 4 \times cosα}$
L7---the distance between the hinge point of the variable amplitude construction for the superlift counterweight and the hinge point where the end of the variable amplitude construction for the superlift counterweight connects the pulling plate: $L 7 = L 1 \times \cos β + \sqrt{L 3^{2} - L 1^{2} \times \sin β^{2}}$
$β = a \sin ({}^{L 2 \times sinα}{/_{L 1}}) - ϕ$

A method for operating the stepless luffing mechanism, including following steps:

Step1: calculating the value of straight line L1 according to the value of α which is measured by the mast angle sensor.
Step2: calculating the value of β according to the value of Φ which is measured by the angle sensor.
Step 3: calculating the value of L7 according to the value of β;
Step 4: calculating the value of the superlift radius R according to L7 and the value of Φ.

When the superlift counterweight stepless luffing mechanism of the crawler crane moves between point A and point B, its measuring transducer for the working radius measures, calculates (according to the above formulas), transmits data and displays in real time on the screen of the driver's cab for the operator to monitor in real time.
The present invention may realize the stepless variable amplitude of the superlift counterweight radius. And the variable amplitude range is larger and more convenient so that it could achieve the object of making hoisting operation range of the complete machine larger and the machine more stable, safer and more reliable in the hoisting operation. It further makes use of the operation space of the superlift mast, especially under conditions where the working space is limited, the center of gravity of the superlift counterweight may be changed through changing the stroke of the translating hydro-cylinder without changing the angle position of the superlift mast. Thereby space for variable amplitude of the superlift mast can be saved. And it is also easy to operate and convenient to use.

Claims

A stepless luffing mechanism for a superlift counterweight of a crawler crane, including a main luffing mast (0), a lift cylinder (2), a variable amplitude construction (3) for a superlift counterweight, a superlift counterweight pulling plate (4) and a superlift mast (5), characterized in that the lower end of the lift cylinder (2) connects to the superlift counterweight (1), and the upper end of the lift cylinder (2) connects to the lower end of the front part of the variable amplitude construction (3) for the superlift counterweight; the upper end of the front part of the variable amplitude construction (3) for superlift counterweight connects to the lower end of the superlift counterweight pulling plates (4); a measuring transducer is fitted under the variable amplitude construction (3) for the superlift counterweight; the variable amplitude construction (3) for the superlift counterweight includes a hydro-cylinder support (31); the variable amplitude construction (3) for the superlift counterweight includes two translating hydro-cylinders (32), each of which is set in the front end of hydro-cylinder support (31); hydro-cylinder piston rod support(s) (33) is/are set in the front end of the translating hydro-cylinder (32); connection support(s) (34) is/are set in the front end of the hydro-cylinder piston rod support(s) (33); a pulling plate (35) is set in the front end of the connection support(s) (34); and there is/are pressure sensor(s) (8) and a proportional electromagnetic valve set in each translating hydro-cylinder (33).
The stepless luffing mechanism for the superlift counterweight of the crawler crane according to the claim 1, wherein:
the lower end of the superlift mast (5) connects to the back-end of a platform (7), the upper end of the superlift mast (5) connects to the upper end of the superlift counterweight pulling plates (4) by a lifting rope; the lower end of the main luffing mast (0) connects to the back-end of the platform (7), the upper end of the main luffing mast (0) connects separately to the upper end of the superlift mast (5) and the lower end in the rear side of the variable amplitude construction (3) for superlift counterweight by lifting rope.
The stepless luffing mechanism for the superlift counterweight of the crawler crane according to the claim 1, wherein:
the measuring transducer includes a length sensor (61) and an angle sensor (62); the length sensor (61) is installed at the lower part of the hydro-cylinder support (31) to measure the projecting length of the translating hydro-cylinders (32); the angle sensor (62) is installed at the lower part of the hydro-cylinder piston rod support (33) to measure the included angle between the variable amplitude construction (3) for the superlift counterweight and platform (7).
The stepless luffing mechanism for the superlift counterweight of the crawler crane according to the claim 1, wherein:
the variable amplitude construction (3) for the superlift counterweight connects to a pin of the platform (7) by the hydro-cylinder support (31); the pulling plates (35) include a first pulling plate (351) and a second pulling plate (352), the upper end of the first pulling plate (351) and second pulling plate (352) connect to the upper end of the lift cylinder (2), the lower ends of the first pulling plate (351) and second pulling plate (352) connect to the lower end of the superlift counterweight pulling plate (4).
The stepless luffing mechanism for the superlift counterweight of the crawler crane according to the claim 1, wherein:
there is a mast angle sensor set on the superlift mast (5).
The stepless luffing mechanism for the superlift counterweight of the crawler crane according to the claim 1, wherein:
the translating hydro-cylinder (32) drives the piston rod of the hydro-cylinder to move in a horizontal direction.
The stepless luffing mechanism for the superlift counterweight of the crawler crane according to the claim 1, wherein:
the lift cylinder (2) drives the superlift counterweight (1) to move in a vertical direction.